Dipak M. Adhyaru

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In this paper, a Hamilton–Jacobi–Bellman (HJB) equation–based optimal control algorithm for robust controller design is proposed for nonlinear systems. The HJB equation is formulated using a suitable nonquadratic term in the performance functional to tackle constraints on the control input. Utilizing the direct method of Lyapunov stability, the controller(More)
Biometric authentication refers to the automatic identification of a person by analyzing their physiological and/or behavioral characteristics or traits. Since many physiological and behavioral characteristics are unique to an individual, biometrics provides a more reliable system of authentication than ID cards, keys, passwords, or other traditional(More)
Real-time data of boiler thermal efficiency can really reflect the boiler operation condition, heat generation and heat loss. Performance of the boiler, like efficiency and evaporation ratio reduces with time, due to poor combustion, heat transfer fouling and poor operation and maintenance. Boiler efficiency can be also useful in analysis of boiler and can(More)
Robot manipulators have become increasingly important in the field of flexible automation. Through the years considerable research effort has been made in their controller design. In order to achieve accurate trajectory tracking and good control performance, a number of control schemes have been developed. Amongst these, ANFIS (Adaptive Neuro-Fuzzy(More)
Bacterial foraging optimization algorithm (BFOA) has been widely accepted as a global optimization algorithm of current interest for optimization and control. BFOA is inspired by the social foraging behaviour of Escherichia coli. BFOA has already drawn the attention of researchers because of its efficiency in solving real-world optimization problems arising(More)
In this paper, constrained controller design is proposed for a class of nonlinear discrete-time uncertain system having matched type system uncertainties, using the solution of HJB (Hamilton-Jaccobi-Bellman) equation. The discrete-time HJB equation is formulated using a suitable non-quadratic term in the performance functional to tackle constraints on the(More)
This paper presents the design of a nonlinear model of AUV (Autonomous under water vehicle) which is obtained through kinematics and dynamic equations which is linearized at an operating point to get depth plane model. A two loop controller(PI&PD) and LQR(Linear quadratic regulator) are used for controlling of the AUV. The primary focus is to simulate(More)